Whisk maple syrup, Dijon mustard, and balsamic vinegar together in a bowl. Pour over chicken thighs in a bowl and marinate for 30 minutes.
Preheat the oven to 350 degrees F (175 degrees C). Spray a casserole dish with cooking spray.
Place chicken in the prepared casserole dish and pour remaining marinade on top.
Bake in the preheated oven for 25 minutes. Flip chicken and continue baking until juices run clear and sauce is thick, about 25 minutes more. Serve with sauce over chicken.
You can use chicken breasts in place of thighs.
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